PID: Straight-line drive 15 ft with ≤6 in error

[jasonappah]

Objective
Drive straight for 15 ft while maintaining heading and position within the specified error bound.

Acceptance Criteria

• From standstill, travel 15 ft with ≤6 in lateral/endpoint error
• Repeatability across 5+ runs recorded
• Gains/constraints documented

Work

• Implement velocity/position PID or heading-hold with speed control
• Add test mode to command fixed-distance drive
• Log position estimate vs commanded path

Artifacts

• Logs of position/yaw during runs
• Summary table of errors

Risks/Notes

• Wheel slip and uneven surfaces; document test surface and tire condition.